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- Fixed MSTA initialization in motor_init().

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- Added MSTA.EA_POSITION support query to set_status()
This commit is contained in:
Ron Sluiter
2009-08-25 18:25:54 +00:00
parent 5add4b0152
commit c01d5bf510
1 changed files with 20 additions and 18 deletions
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motorApp/NewportSrc/drvPM500.cc
+20 -18
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@@ -2,9 +2,9 @@
FILENAME... drvPM500.cc
USAGE... Motor record driver level support for Newport PM500.
Version: $Revision: 1.20 $
Version: $Revision: 1.21 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-01-17 15:39:43 $
Last Modified: $Date: 2009-08-25 18:25:54 $
*/
/* Device Driver Support routines for PM500 motor controller */
@@ -44,10 +44,13 @@ Last Modified: $Date: 2007-01-17 15:39:43 $
* .07 07/28/04 rls "epicsExport" debug variable.
* .08 09/21/04 rls support for 32axes/controller.
* .09 12/21/04 rls - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* - make debug variables always available.
* extern "C" linkage.
* - make debug variables always available.
* .10 01/17/07 rls Bug fix for driver not issuing the correct command when it
* queried for the number of axes at boot up.
* .11 08/20/09 rls - Bad motor_init() initialization; EA_PRESENT and
* GAIN_SUPPORT cleared.
* - Added MSTA.EA_POSITION support query to set_status().
*/
@@ -217,10 +220,9 @@ static int set_status(int card, int signal)
{
struct MMcontroller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
struct mess_info *motor_info;
/* Message parsing variables */
char *axis_name, status_char, dir_char, buff[BUFF_SIZE],
response[BUFF_SIZE];
char *axis_name, status_char, dir_char, buff[BUFF_SIZE], response[BUFF_SIZE];
int rtnval, rtn_state = 0;
double motorData;
bool ls_active;
@@ -282,10 +284,13 @@ static int set_status(int card, int signal)
status.Bits.RA_MINUS_LS = 0;
}
status.Bits.RA_HOME = 0;
/* Set Motor On/Off status */
sprintf(buff, "%sM?", axis_name);
send_mess(card, buff, (char) NULL);
rtnval = recv_mess(card, response, 1);
status.Bits.EA_POSITION = (int) atof(&response[2]);
/* encoder status */
status.Bits.EA_POSITION = 0;
status.Bits.RA_HOME = 0;
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
@@ -645,20 +650,17 @@ static int motor_init()
digits = 1;
cntrl->res_decpts[motor_index] = digits;
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
/* PM500 only supports DC motors. */
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
motor_info->encoder_present = NO;
motor_info->pid_present = NO;
cntrl->home_preset[motor_index] = 0;
set_status(card_index, motor_index); /* Read status of each motor */